Automated surgical and interventional procedures

Abstract

Described herein are an apparatus and methods for automating subtasks in surgery and interventional medical procedures. The apparatus consists of a robotic positioning platform, an operating system with automation programs, and end-effector tools to carry out a task under supervised autonomy. The operating system executes an automation program, based on one or a fusion of two or more imaging modalities, guides real-time tracking of mobile and deformable targets in unstructured environment while the end-effector tools execute surgical interventional subtasks that require precision, accuracy, maneuverability and repetition. The apparatus and methods make these medical procedures more efficient and effective allowing a wider access and more standardized outcomes and improved safety.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS[0001]This application claims the benefit of priority under 35 U.S.C. §119(e) from U.S. Ser. No. 61 / 666,399, filed Jun. 29, 2012, the entire contents of which are incorporated herein by reference.BACKGROUND OF THE INVENTION[0002]1. Field of the Invention[0003]This invention is related to the field of robotic surgery, namely, full or partial automation of surgical tasks.[0004]2. Description of the Related Art[0005]What is available in the market as so called “robotic surgery” is typically robot-assisted surgery because the surgeon and the robot interact through a master-slave paradigm. The slave robot is constrained to follow direct commands from the surgeon master with little autonomy. While this method is reliable, it constrains the speed and dexterity of the slave robot to that of the surgeon. None of the currently available invasive surgical systems utilize true automation during the procedure. Moreover, no previous approach combines both vi...

AI Technical Summary

Benefits of technology

[0006]The currently available master-slave mode of operation limits the robot to the operating surgeon's dexterity and skill, which may be inefficient for certain subtasks that require high precision, dexterity, and repetition (e.g. suturing) when compared to autonomous control. Moreover, supervised automation improves on limitations of each individual surgeon's experience-based adaptive and visual processing ability with an evidence-based decision support algorithm built on master surgeon's ability and sub-surface tissue information from a secondary imaging source.

Problems solved by technology

The currently available master-slave mode of operation limits the robot to the operating surgeon's dexterity and skill, which may be inefficient for certain subtasks that require high precision, dexterity, and repetition (e.g. suturing) when compared to autonomous control.

Due to the often dynamic and unstructured nature of the surgical environment, optical data alone may not be sufficient for robust real-time, high fidelity tracking of mobile and deformable targets; therefore, the visual data may be augmented, fused or accompanied by other sensors as needed (e.g. infrared-camera, haptic sensor, etc.).

Images